CN113275290A - Full-automatic cleaning robot suitable for unstructured pavement - Google Patents
Full-automatic cleaning robot suitable for unstructured pavement Download PDFInfo
- Publication number
- CN113275290A CN113275290A CN202011140749.8A CN202011140749A CN113275290A CN 113275290 A CN113275290 A CN 113275290A CN 202011140749 A CN202011140749 A CN 202011140749A CN 113275290 A CN113275290 A CN 113275290A
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- Prior art keywords
- gear
- full
- cleaning robot
- automatic cleaning
- end effector
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Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 64
- 239000012636 effector Substances 0.000 claims abstract description 34
- 239000007921 spray Substances 0.000 claims abstract description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 13
- 238000003491 array Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000000428 dust Substances 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000003344 environmental pollutant Substances 0.000 description 2
- 210000003608 fece Anatomy 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 231100000719 pollutant Toxicity 0.000 description 2
- 230000001680 brushing effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
- 238000009333 weeding Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B2203/00—Details of cleaning machines or methods involving the use or presence of liquid or steam
- B08B2203/02—Details of machines or methods for cleaning by the force of jets or sprays
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B10/00—Integration of renewable energy sources in buildings
- Y02B10/10—Photovoltaic [PV]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Cleaning In General (AREA)
Abstract
The embodiment of the invention relates to the technical field of cleaning equipment, and discloses a full-automatic cleaning robot suitable for an unstructured pavement, which comprises: the crawler-type vehicle comprises a crawler-type vehicle body and an end effector arranged on the crawler-type vehicle body; the end effector comprises a sun gear, a gear ring and two planet gears, and the gear ring, the sun gear and the two planet gears form a planet gear structure; and the mandrels of the two planet wheels are respectively provided with a binocular camera and a spray gun. The full-automatic cleaning robot suitable for the unstructured pavement provided by the embodiment of the invention can realize complete cross-plate autonomous cleaning operation among solar cell panel arrays, is beneficial to the benign development of the photovoltaic industry, and can be applied to cleaning roofs of buildings such as single houses and the like.
Description
Technical Field
The invention relates to the technical field of cleaning equipment, in particular to a full-automatic cleaning robot suitable for an unstructured pavement.
Background
The solar panel has the great advantages of cleanness and high cost performance, and is very important to be cleaned in time after the solar panel is put into use, because dust shielding is an important reason for reducing the generating capacity. The dust and the filth on the surface of the solar panel can reduce the irradiation intensity of the received sunlight, and further reduce the generated energy. Among other things, local shading can also cause hot spot effects, affect the life of the components, and create safety hazards.
At present, three cleaning modes are mainly used for cleaning the battery plate, wherein the manual cleaning quality is unstable and the cost is high; the requirement on the flatness of the road surface is high when the manual driving vehicle is used for reading and washing; at present, the mainstream mode is to independently clean the battery panel after the cleaning robot is placed on the battery panel, but the robot is inconvenient to carry a larger water tank, the crossing of the battery panel array cannot be independently realized, and the cleaning range is limited. Therefore, a full-automatic cleaning robot which can adapt to uneven pavements and can realize cleaning tasks of different cell panel arrays is urgently needed in the market.
Disclosure of Invention
The embodiment of the invention provides a full-automatic cleaning robot suitable for an unstructured road surface, which is used for solving or partially solving the problem that the cleaning effect and efficiency of the conventional battery panel cleaning device are not ideal.
The embodiment of the invention provides a full-automatic cleaning robot suitable for an unstructured pavement, which comprises: the crawler-type vehicle comprises a crawler-type vehicle body and an end effector arranged on the crawler-type vehicle body; the end effector comprises a sun gear, a gear ring and two planet gears, and the gear ring, the sun gear and the two planet gears form a planet gear structure; and the mandrels of the two planet wheels are respectively provided with a binocular camera and a spray gun.
On the basis of the technical scheme, a rolling brush is arranged on the outer surface of the gear ring along the circumferential direction of the gear ring.
On the basis of the technical scheme, the end effector further comprises a gear ring external gear driving gear, a sun gear driving motor and a gear ring external gear driving motor; the gear ring external gear driving gear is meshed with gear teeth on the outer surface of the gear ring, and the gear ring external gear driving motor is coaxially connected with the gear ring external gear driving gear; the sun wheel driving motor is coaxially connected with the sun wheel.
On the basis of the technical scheme, the full-automatic cleaning robot further comprises a rotary table arranged on the crawler-type vehicle body; the end effector is mounted on the turntable.
On the basis of the technical scheme, the full-automatic cleaning robot further comprises a first lifting column and a second lifting column which are arranged on the rotary table, and the first lifting column and the second lifting column are connected with a rack rod on the end effector through hinges and a mounting seat.
On the basis of the technical scheme, one end of the rack rod is connected with the end effector through a roll motor, the rack rod is installed on the top ends of the first lifting column and the second lifting column through the two installation seats and the two hinges respectively, and therefore the rack rod drives the end effector to lift and pitch.
On the basis of the technical scheme, the full-automatic cleaning robot further comprises a rack driving motor and a driving gear meshed with the rack rod, and the rack driving motor is coaxially connected with the driving gear.
On the basis of the technical scheme, the full-automatic cleaning robot further comprises an RTK moving end arranged on the rack rod.
On the basis of the technical scheme, the full-automatic cleaning robot further comprises a water tank and an air compressor which are installed on the crawler-type vehicle body, and the water tank and the air compressor are communicated with the spray gun.
According to the full-automatic cleaning robot suitable for the unstructured road surface, the heights of the binocular camera and the spray gun can be adjusted when the planet wheel revolves, the angle between the binocular camera and the spray gun can be adjusted when the planet wheel rotates, the binocular camera can achieve judgment of depth of field (namely the distance position of an object), large-field and long-distance imaging is facilitated, all the cell panels in a certain array can be photographed, and then whether small dirt exists or not and needs to be cleaned is judged.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a full-automatic cleaning robot adapted to an unstructured road surface according to an embodiment of the invention;
FIG. 2 is a schematic structural view of an end effector according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a mounting base according to an embodiment of the invention.
Reference numerals:
1. a crawler body; 2. a turntable; 3. a water tank; 4. a first lifting column; 5. a second lifting column; 6. a rack bar; 7. a roll motor; 8. a plastic water pipe; 9. an end effector; 10. a rack drive motor; 11. a drive gear; 12. a mounting seat; 91. a binocular camera; 92. a spray gun; 93. a ring gear; 94. rolling and brushing; 95. the gear ring and the external gear drive the gear; 96. the gear ring and the external gear drive the motor; 97. the sun wheel drives the motor.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Floating dust and stains on the solar cell panel need to be cleaned in time, otherwise the generated energy is influenced, even the service life of the assembly is influenced, and potential safety hazards are caused. At present, three main cleaning modes are available, namely manual cleaning, vehicle-reading cleaning and on-board robot autonomous cleaning. Wherein, the manual cleaning quality is unstable and the cost is high; vehicle read-type cleaning not only requires manual vehicle driving, but also can be used only on flat road surfaces; robot-on-board cleaning is currently the most common cleaning method. The robot has the autonomous operation capability after being put on the plate, but cannot realize autonomous crossing among the cell panel arrays, so the cleaning range is greatly limited, and because the robot is in contact with the cell panels, the hidden trouble of damaging the surfaces of the cell panels exists, and mutual pollution among the cell panels is easily caused by rollers or cleaning tools.
Fig. 1 is a schematic structural diagram of a full-automatic cleaning robot adapted to an unstructured road surface according to an embodiment of the present invention, and as shown in fig. 1, the full-automatic cleaning robot adapted to an unstructured road surface according to an embodiment of the present invention includes: the crawler-type vehicle comprises a crawler-type vehicle body 1 and an end effector 9 arranged on the crawler-type vehicle body;
in order to adapt to a rough road surface and a convex roadblock such as a stone block or a concave roadblock such as a shallow trench, the crawler type vehicle body structure is adopted in the embodiment of the invention. The crawler body 1 has more excellent obstacle surmounting performance and running stability than the wheeled body.
As shown in fig. 2, the end effector 9 includes a sun gear, a ring gear 93, and two planet gears, and the ring gear 93, the sun gear, and the two planet gears form a planet gear structure; the core shafts of the two planet wheels are respectively provided with a binocular camera 91 and a spray gun 92, the core shaft of the first planet wheel is provided with the binocular camera 91, and the core shaft of the second planet wheel is provided with the spray gun 92. The lens orientation of the binocular camera 91 is perpendicular to the axial direction of the spindle of the planet wheel, and the water spraying direction of the spray gun 92 is perpendicular to the axial direction of the spindle of the planet wheel.
In the embodiment of the invention, the heights of the binocular camera and the spray gun can be adjusted when the planet wheel revolves, the angles of the binocular camera and the spray gun can be adjusted when the planet wheel rotates, the binocular camera can realize the judgment of the depth of field (namely the distance position of an object), is convenient for imaging with a large visual field and a long distance, can photograph all the cell panels in a certain array, and further judges whether small dirt exists and needs to be cleaned.
On the basis of the above embodiment, the roll brush 94 is mounted on the outer surface of the ring gear 93 in the circumferential direction of the ring gear 93.
It should be noted that, full self-cleaning robot is still including installing water tank 3 and the air compressor machine on crawler-type automobile body 1, and water tank 3 and air compressor machine all are linked together with spray gun 92. Wherein, the water tank 3 is communicated with the spray gun 92 through the plastic water pipe 8. The rolling brush 94 is used for local fixed-point cleaning, and most pollutants are stubborn pollutants adhered by small pieces such as bird droppings, and need to be found in time and cleaned effectively.
For conventional floating dust cleaning, an air mist type cleaning mode is adopted in the embodiment of the invention, which is beneficial to expanding the cleaning range and reducing the water consumption; for small stubborn dirt (such as bird droppings), after the position of the small stubborn dirt is determined by the binocular camera 91, the small stubborn dirt can be cleaned (sprayed before and after cleaning) by a rolling brush 94 installed on the surface of the gear ring 93.
On the basis of the above embodiment, the end effector 9 further includes a ring gear external gear drive gear 95, a sun gear drive motor 97, and a ring gear external gear drive motor 96; a gear ring external gear driving gear 95 is meshed with gear teeth on the outer surface of the gear ring 93, and a gear ring external gear driving motor 96 is coaxially connected with the gear ring external gear driving gear 95; the sun gear drive motor 97 is coaxially connected to the sun gear.
Wherein, part of the outer surface of the gear ring 93 is provided with gear teeth which are engaged with the gear ring external gear driving gear 95; gear teeth are arranged on part of the inner surface of the gear ring 93, and are meshed with the two planet gears; and two gear teeth on the gear ring are arranged in a staggered manner.
It should be noted that the ring gear external gear drive gear 95 is driven to rotate by the ring gear external gear drive motor 96, the ring gear external gear drive gear 95 drives the ring gear 93 to rotate, the sun gear drive motor 97 drives the sun gear to rotate, and the revolution and rotation of the planetary gear are realized by the rotation of the ring gear 93 and the sun gear.
On the basis of the embodiment, the full-automatic cleaning robot further comprises a rotary table 2 arranged on the crawler-type vehicle body 1; an end effector 9 is mounted on the turntable 2.
It should be noted that, the end effector 9 is mounted on the turntable 2, and the turntable 2 drives the end effector 9 to rotate correspondingly, so that the yaw of the whole end effector 9 can be realized.
On the basis of the above embodiment, the full-automatic cleaning robot further includes a first lifting column 4 and a second lifting column 5 which are installed on the turntable 2, and both the first lifting column 4 and the second lifting column 5 are connected with a rack bar 6 on the end effector 9 through hinges and a mounting seat.
It should be noted that the first lifting column 4 and the second lifting column 5 can adjust the height of the end effector 9 during synchronous extension and retraction, and if the first lifting column 4 and the second lifting column 5 are not synchronously extended and retracted, the pitch angle of the end effector 9 can be adjusted.
On the basis of the above embodiment, one end of the rack bar 6 is connected with the end effector 9 through the roll motor 7, and the rack bar 6 is respectively installed at the top ends of the first lifting column 4 and the second lifting column 5 through two installation seats and two hinges, so that the rack bar 6 drives the end effector to lift and pitch.
As shown in fig. 3, the rack bar 6 is attached to the distal end of the first lifting column 4 via the first attachment base 12 and the first hinge. The upper part of the mounting seat 12 is provided with a through hole for the rack bar 6 to pass through, and the lower part of the mounting seat 12 is connected with the top end of the first lifting column 4 through a hinge. Wherein, the stability of the rack bar 6 in the horizontal direction can be ensured by the first mounting seat and the second mounting seat.
It can be understood that one end of the rack bar 6 is connected to the fixed end of the traverse motor 7, the movable end of the traverse motor 7 is connected to the end effector 9, the end effector 9 is driven to rotate around the output shaft of the traverse motor 7 by the traverse motor 7, and the output shaft of the traverse motor 7 extends in the same direction as the length direction of the rack bar 6.
On the basis of the above embodiment, the full-automatic cleaning robot further includes a rack driving motor 10 and a driving gear 11 engaged with the rack bar 6, and the rack driving motor 10 is coaxially connected with the driving gear 11.
Note that, the rack drive motor 10 drives the drive gear 11 to rotate, and the drive gear 11 drives the rack bar 6 to move in the horizontal direction, thereby adjusting the extension amount of the rack bar 6. Wherein the rack driving motor 10 is mounted on the mount 12.
It can be understood that the rack bar 6, the driving gear 11 and the rack driving motor 10 can be replaced by a telescopic rod, that is, the free end of the telescopic rod is movably connected with the end effector 9 through a connector, and the telescopic rod is respectively installed at the top ends of the first lifting column 4 and the second lifting column 5 through two fixing seats and two hinges, so that the telescopic rod drives the end effector to lift and pitch.
On the basis of the above embodiment, the full-automatic cleaning robot further includes an RTK moving end mounted on the rack bar 6.
The full-automatic cleaning robot suitable for the unstructured pavement is easy to additionally install an infrared detection sensor and a weeding device for detecting circuit faults inside a battery panel; the full-automatic cleaning robot is used for cleaning battery plates and cleaning roofs of single houses or villas; the full-automatic cleaning robot can operate in a full-automatic mode.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A full-automatic cleaning robot adapted to unstructured pavements, comprising: the crawler-type vehicle comprises a crawler-type vehicle body and an end effector arranged on the crawler-type vehicle body;
the end effector comprises a sun gear, a gear ring and two planet gears, and the gear ring, the sun gear and the two planet gears form a planet gear structure; and the mandrels of the two planet wheels are respectively provided with a binocular camera and a spray gun.
2. The full-automatic cleaning robot adapted to an unstructured road surface according to claim 1, characterized in that a roll brush is installed on the outer surface of the ring gear in the circumferential direction of the ring gear.
3. The full-automatic cleaning robot adapted to unstructured road surfaces of claim 1, characterized in that the end effector further comprises a gear ring external gear driving gear, a sun gear driving motor and a gear ring external gear driving motor; the gear ring external gear driving gear is meshed with gear teeth on the outer surface of the gear ring, and the gear ring external gear driving motor is coaxially connected with the gear ring external gear driving gear; the sun wheel driving motor is coaxially connected with the sun wheel.
4. A full automatic cleaning robot adapted to an unstructured roadway according to any of claims 1 to 3, characterised in that the full automatic cleaning robot further comprises a turntable mounted on the tracked vehicle body; the end effector is mounted on the turntable.
5. The unstructured roadway adapted full-automatic cleaning robot, as defined by claim 4, further comprising first and second lift columns mounted on the turntable, each connected to a rack bar on the end effector by a hinge and a mount.
6. The robot of claim 5, wherein one end of the rack bar is connected to the end effector via a roll motor, and the rack bar is mounted on the top ends of the first lifting column and the second lifting column via two mounting seats and two hinges, respectively, so as to enable the rack bar to lift and tilt the end effector.
7. The full-automatic cleaning robot adapted to unstructured road surfaces, according to claim 5, characterized in that the full-automatic cleaning robot further comprises a rack driving motor and a driving gear engaged with the rack bar, the rack driving motor and the driving gear are coaxially connected.
8. The unstructured roadway adapted full-automatic cleaning robot of claim 5, further comprising an RTK moving end mounted on the rack bar.
9. The full-automatic cleaning robot adapting to the unstructured road surface according to any one of claims 1 to 3, characterized by further comprising a water tank and an air compressor mounted on the crawler body, wherein the water tank and the air compressor are both communicated with the spray gun.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011140749.8A CN113275290B (en) | 2020-10-22 | 2020-10-22 | Full-automatic cleaning robot suitable for unstructured pavement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011140749.8A CN113275290B (en) | 2020-10-22 | 2020-10-22 | Full-automatic cleaning robot suitable for unstructured pavement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113275290A true CN113275290A (en) | 2021-08-20 |
| CN113275290B CN113275290B (en) | 2022-02-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011140749.8A Active CN113275290B (en) | 2020-10-22 | 2020-10-22 | Full-automatic cleaning robot suitable for unstructured pavement |
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| Country | Link |
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| CN (1) | CN113275290B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102310403A (en) * | 2010-07-07 | 2012-01-11 | 中国科学院沈阳自动化研究所 | Wheel-track composite deformation mobile robot with adaptive capability |
| WO2015172248A1 (en) * | 2014-05-12 | 2015-11-19 | Linepro Equipment Ltd. | Vehicle mounted boom assembly with a washer attachment |
| CN105107810A (en) * | 2015-09-07 | 2015-12-02 | 王士涛 | Cleaning device for cleaning solar photovoltaic module |
| CN105945893A (en) * | 2016-05-24 | 2016-09-21 | 范志杰 | Robot with wall cleaning function |
| CN206242036U (en) * | 2016-11-14 | 2017-06-13 | 华北电力大学（保定） | A kind of Substation Insulator string cleaning robot |
| CN207985858U (en) * | 2018-01-05 | 2018-10-19 | 泸州岚燕科技有限公司 | Rubbish compressing mechanism for garbage collection process equipment |
| CN208438336U (en) * | 2018-07-18 | 2019-01-29 | 刘一澎 | Aerial platform with mechanical arm |
| CN208592214U (en) * | 2018-07-31 | 2019-03-12 | 青岛科源智能装备有限公司 | A kind of roller brush regulating mechanism of photovoltaic module dust-extraction unit |
| CN208755848U (en) * | 2018-04-28 | 2019-04-19 | 桂林电子科技大学 | Glass-cleaning robot |
-
2020
- 2020-10-22 CN CN202011140749.8A patent/CN113275290B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102310403A (en) * | 2010-07-07 | 2012-01-11 | 中国科学院沈阳自动化研究所 | Wheel-track composite deformation mobile robot with adaptive capability |
| WO2015172248A1 (en) * | 2014-05-12 | 2015-11-19 | Linepro Equipment Ltd. | Vehicle mounted boom assembly with a washer attachment |
| CN105107810A (en) * | 2015-09-07 | 2015-12-02 | 王士涛 | Cleaning device for cleaning solar photovoltaic module |
| CN105945893A (en) * | 2016-05-24 | 2016-09-21 | 范志杰 | Robot with wall cleaning function |
| CN206242036U (en) * | 2016-11-14 | 2017-06-13 | 华北电力大学（保定） | A kind of Substation Insulator string cleaning robot |
| CN207985858U (en) * | 2018-01-05 | 2018-10-19 | 泸州岚燕科技有限公司 | Rubbish compressing mechanism for garbage collection process equipment |
| CN208755848U (en) * | 2018-04-28 | 2019-04-19 | 桂林电子科技大学 | Glass-cleaning robot |
| CN208438336U (en) * | 2018-07-18 | 2019-01-29 | 刘一澎 | Aerial platform with mechanical arm |
| CN208592214U (en) * | 2018-07-31 | 2019-03-12 | 青岛科源智能装备有限公司 | A kind of roller brush regulating mechanism of photovoltaic module dust-extraction unit |
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| Publication number | Publication date |
|---|---|
| CN113275290B (en) | 2022-02-25 |
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